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Research Papers

Topological Structural Synthesis of 4-DOF Serial-Parallel Hybrid Mechanisms

[+] Author and Article Information
Qiang Zeng1

 Robotics Research Laboratory, School of Mechanical and Electrical Control Engineering, Beijing Jiaotong University, 100044 Beijing, P. R. C.07116302@bjtu.edu.cn

Yuefa Fang

 Robotics Research Laboratory, School of Mechanical and Electrical Control Engineering, Beijing Jiaotong University, 100044 Beijing, P. R. C.yffang@bjtu.edu.cn

Kornel F. Ehmann

 Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL 60208-3111k-ehmann@northwestern.edu

1

Corresponding author.

J. Mech. Des 133(9), 091008 (Sep 15, 2011) (9 pages) doi:10.1115/1.4004584 History: Received October 14, 2010; Revised July 06, 2011; Accepted July 09, 2011; Published September 15, 2011; Online September 15, 2011

This paper analyzes the basic forms of 4-DOF spatial motions through the introduction of logical propositions for the topological structural synthesis of multiloop hybrid spatial mechanisms. The proposed method for the topological structural synthesis is based on displacement group theory and consists of two elements. First, spatial multiloop detachment (SMD) is proposed for the analysis of the output motion relations in multiloop topological arrangements. Second, configuration cards for displacement subsets of subchains (CCDS) are developed for subchain design. To demonstrate the applicability of SMD and CCDS to the four basic forms of 4-DOF motions, 12 novel serial-parallel hybrid mechanisms are synthesized that include the nonspanning tree netted form of topological arrangements.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Spatial motions of 4-DOF mechanisms

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Figure 2

Two types of topological arrangements (a) spanning tree form (b) nonspanning tree netted form

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Figure 3

The SMD process of II(8,3,3)

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Figure 4

SMD of three typical topological arrangements

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Figure 5

4-DOF serial-parallel hybrid mechanisms of I(5,2,2)

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Figure 6

4-DOF serial-parallel hybrid mechanisms of II(5,3,2)

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Figure 7

4-DOF serial-parallel hybrid mechanisms of II(8,4,3)

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